Title:
手術器具を回動させるプーリ機構
Document Type and Number:
Japanese Patent JP7233509
Kind Code:
B2
Abstract:
A robotic surgical instrument comprising a shaft and end effector element connected by an articulation. The articulation comprises a first joint driveable by a first pair of driving elements. The first joint permits the end effector element to rotate about a first axis transverse to a longitudinal axis of the shaft, the rotation of the end effector element about the first axis bounded by an extreme rotation angle relative to the longitudinal axis. A second joint is driveable by a second pair of driving elements. A pulley arrangement constrains the second pair of driving elements, and comprises a first set of pulleys rotatable about the first axis, and a second set of pulleys located relative to the first set of pulleys such that at the extreme rotation angle the second pair of driving elements is retained in contact with both the first and second sets of pulleys.
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Inventors:
Chaplin Ben Robert
Marshall Keith
Hairs Luke David Ronald
Marshall Keith
Hairs Luke David Ronald
Application Number:
JP2021179565A
Publication Date:
March 06, 2023
Filing Date:
November 02, 2021
Export Citation:
Assignee:
CMR SURGICAL LIMITED
International Classes:
A61B34/30; A61B17/29
Domestic Patent References:
| JP2015501697A |
Foreign References:
| US6394998 | ||||
| WO2011106606A1 |
Attorney, Agent or Firm:
Shuji Sugimoto
Takeo Tsutsumi
Yuka Kobayashi
Daisuke Kaneko
Kenichi Nakata
Hiroki Taniguchi
Takeo Tsutsumi
Yuka Kobayashi
Daisuke Kaneko
Kenichi Nakata
Hiroki Taniguchi